Under less than ideal conditions, this is normal and correct behavior. Basically, anytime the cameras or radar do not have a perfect view of the world outside, the car will begin to withdraw features. it could be rain, snow, fog, driving into early morning sunrise or even just poor condition of the pavement. Autopilot lane keeping features are basically visual, requiring a clear view of the dividing lines between and beside lanes. Anytime conditions have degraded, performance goes along with it. Basically as confidence erodes, so does performance and the system requires more driver attention. The car continuously monitors conditions that affect autopilot operation, even if none of the features are not being used.
You will notice when this occurs, you will lose the display of the extra lanes in the instrument cluster (if using autopilot) and the auto lane change features stop working. When conditions improve, the automation returns and error message goes away. The Autopilot Features Limited error message is new. It used to be that you just had to notice that the outside lanes were not displayed. Back in the early autopilot days, the entire system would go off line and nothing worked. THAT was a PIA for sure, looking at hours of totally manual driving (first world problem I know).
IMO the error message is a little anemic, not really revealing much about the condition that actually failed, but at least it offers an explanation as to why something did not work as you expected.
